文章基本信息

标题：ICP Algorithm in Mobile Robot Navigation: Analysis of Computational Demands in Embedded Solutions
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作者：Jaromir Konecny ; Jaromir Konecny ; Michal Prauzek 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：25
页码：396-400
DOI：10.1016/j.ifacol.2016.12.079
语种：English
出版社：Elsevier
摘要：Abstract: An accurate robot localization, particularly in indoor environments, represents a challenging aspect in mobile robotics due to lack of computational power of commonly used embedded platforms. To reduce the required computational demands it is necessary to apply an efficient algorithm capable of parallelization. This contribution elaborates on implementation of Iterative Closest Point (ICP) laser scan matching algorithm. A computer program developed and optimized in C# language is compared to a mathematical model designed in MATLAB. The characteristics of both approaches are assessed based on computational demands (e.g. time) and nearest neighbor determination.
关键词：KeywordsScan MatchingICPLiDARComputational demands